CN113911350A - Synchronous belt drive rolling curtain continuous rotary wing device - Google Patents
Synchronous belt drive rolling curtain continuous rotary wing device Download PDFInfo
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- CN113911350A CN113911350A CN202111362276.0A CN202111362276A CN113911350A CN 113911350 A CN113911350 A CN 113911350A CN 202111362276 A CN202111362276 A CN 202111362276A CN 113911350 A CN113911350 A CN 113911350A
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- synchronous belt
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- wing
- roller shutter
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 60
- 238000005096 rolling process Methods 0.000 title description 3
- 230000003014 reinforcing effect Effects 0.000 claims description 31
- 239000007787 solid Substances 0.000 claims description 20
- 239000003638 chemical reducing agent Substances 0.000 claims description 19
- 230000007246 mechanism Effects 0.000 claims description 11
- 229920006351 engineering plastic Polymers 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 5
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 3
- 239000004917 carbon fiber Substances 0.000 claims description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 5
- 230000007547 defect Effects 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 9
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- 238000010586 diagram Methods 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
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- 241000238631 Hexapoda Species 0.000 description 1
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- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/003—Aircraft not otherwise provided for with wings, paddle wheels, bladed wheels, moving or rotating in relation to the fuselage
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C21/00—Influencing air flow over aircraft surfaces by affecting boundary layer flow
- B64C21/02—Influencing air flow over aircraft surfaces by affecting boundary layer flow by use of slot, ducts, porous areas or the like
- B64C21/08—Influencing air flow over aircraft surfaces by affecting boundary layer flow by use of slot, ducts, porous areas or the like adjustable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C2001/0054—Fuselage structures substantially made from particular materials
- B64C2001/0072—Fuselage structures substantially made from particular materials from composite materials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Operating, Guiding And Securing Of Roll- Type Closing Members (AREA)
Abstract
The invention discloses a continuous rotary wing device for a roller shutter driven by a synchronous belt, which comprises a rotary shutter wing and a rotary shaft, wherein the rotary shutter wing is fixedly connected to the rotary shaft, the rotary shutter wing comprises a rotary frame and the roller shutter arranged in the rotary frame, and the rotary frame is also internally provided with the synchronous belt, a synchronous belt wheel and a driving motor which are used for controlling the roller shutter to expand and contract. The invention absorbs the advantages of flapping wing flight and rotor wing flight, overcomes the defects of the flapping wing flight and the rotor wing flight, can solve the bottleneck problem of lower pneumatic efficiency in the existing small and miniature aircrafts, has the characteristics of small standby stroke resistance, large and stable working stroke thrust, high pneumatic efficiency, simpler device structure and convenient manufacture, and can be widely applied to various small aircrafts and unmanned planes flying at low Reynolds number.
Description
Technical Field
The invention relates to the field of movable wing aircrafts and flying robots, in particular to a synchronous belt transmission roller shutter continuous rotating wing device.
Background
The flight mode of the aircraft comprises three flight modes of a fixed wing, a rotor wing and a flapping wing, wherein the flapping wing flight is a flight mode adopted by natural flight organisms, the upper flapping and the lower flapping of double wings are mainly utilized to simultaneously generate lift force and thrust force, and the flight mode has the main characteristic that the lifting, hovering and propelling functions are integrated, meanwhile, the flight mode has strong maneuverability and flexibility, and is more suitable for executing flight around obstacles and the like. For an aircraft in a small-size and low-speed flight state, the aircraft flies at a low Reynolds number, and the unsteady lift force generated by the flapping wings is much larger than the unsteady lift force of the fixed wings; from the thrust aspect, the flapping wing propulsion efficiency is higher than the propeller propulsion efficiency.
At present, the research of the flapping wing air vehicle mainly focuses on simulating the flight attitude of flying organisms in the nature and designing various flapping wing mechanisms. The flapping wing driving mechanism can be divided into a multi-degree-of-freedom flapping wing driving mechanism and a single-degree-of-freedom flapping wing driving mechanism, the multi-degree-of-freedom flapping wing driving mechanism can realize a complex motion form, but the mechanism is relatively large and complex, the single-degree-of-freedom flapping wing driving mechanism only needs to realize flapping motion, and the trailing edge of the fixed wing forms an attack angle which changes along with the flapping of the wing to realize the twisting motion.
However, the common problem of these flapping wing mechanisms is that the overall aerodynamic efficiency is low, even lower than that of the fixed wing micro-aircraft of the same scale. The main reason for the low overall efficiency of the flapping wing aircraft is that most of the existing researches simply imitate the appearance and flapping motion of wings of birds or insects, but the problems that the air resistance is reduced and unsteady aerodynamic force is generated by utilizing the change of the self posture and the structure of the wings in the process of flapping the flapping wings of flying organisms up and down are difficult to realize, and the generated problem of low aerodynamic efficiency seriously restricts the popularization and the application of the flapping wing aircraft.
Disclosure of Invention
The invention aims to provide a synchronous belt transmission roller shutter continuous rotary wing device which remarkably reduces the flight resistance of an aircraft, improves the pneumatic efficiency, provides lift force and thrust force simultaneously and is different from rotor flight and flapping wing flight, so as to solve the problems in the prior flapping wing and rotor wing technology.
The invention discloses a continuous rotary wing device for a roller shutter driven by a synchronous belt, which is characterized by comprising a rotary shutter wing and a rotary shaft, wherein the rotary shutter wing is fixedly connected to the rotary shaft, the rotary shutter wing comprises a rotary frame and the roller shutter arranged in the rotary frame, and the rotary frame is also internally provided with the synchronous belt, a synchronous belt wheel and a driving motor which are used for controlling the roller shutter to expand and contract.
Further, the rotating frame is provided with a central hole, a straight beam and a solid roller shutter mounting beam, the direction of the straight beam is parallel to the axis of the central hole, and the axis of the straight beam is parallel to the axis of the solid roller shutter mounting beam; the roller shutters are mounted on the straight beams and the solid roller shutter mounting beams; the rotating shaft is connected with the central hole and a second speed reducer arranged on the aircraft; the roller shutter is provided with a roller shutter windward side, a roller shutter leeward side and a roller shutter through hole, the driving motor is installed on the motor installation hole, the synchronous belt and the synchronous belt wheel are installed on the straight beam and the solid roller shutter installation beam, and the roller shutter is inserted into the synchronous belt.
Further, the aircraft further comprises an electric motor arranged on the aircraft, and an output shaft of the electric motor is installed in the second speed reducer input hole.
Further, the rotating frame is further provided with a first speed reducer, and an output shaft of the driving motor is installed in an input hole of the first speed reducer.
Further, the rotating frame further comprises at least one of an outer reinforcing curved beam and an inner reinforcing curved beam for reinforcing the strength of the rotating frame.
Further, the straight beam, the outer reinforcing curved beam and the inner reinforcing curved beam are all hollow structures;
and/or the presence of a gas in the gas,
the straight beam, the outer reinforcing curved beam and the inner reinforcing curved beam are made of engineering plastics;
and/or the presence of a gas in the gas,
the straight beam, the outer reinforcing curved beam and the inner reinforcing curved beam are made of carbon fiber materials.
Further, the straight beams are uniformly distributed in the circumferential direction of the central hole, and the number of the straight beams is more than 1; the number of the synchronous belts in the rotating frame is 8, and the number of the synchronous belt wheels is 16.
The technical scheme for realizing the aim of the invention is to provide a continuous rotary wing device of a roller shutter driven by a synchronous belt, which comprises a rotary shutter wing and a rotary shaft, wherein the rotary shutter wing is fixedly connected to the rotary shaft, the rotary shutter wing comprises a rotary frame and a roller shutter arranged in the rotary frame, the rotary frame is also internally provided with a synchronous belt, a synchronous belt wheel and a driving motor for controlling the expansion and contraction of the roller shutter, the rotary frame is provided with a central hole, a straight beam and a solid roller shutter mounting beam, the direction of the straight beam is parallel to the axis of the central hole, and the axis of the straight beam is parallel to the axis of the solid roller shutter mounting beam; the roller shutters are arranged on the straight beams and the solid roller shutter mounting beams; the rotating shaft is connected with the central hole and a second speed reducer arranged on the aircraft; it has the roll of curtain windward side to roll up on the curtain, roll up curtain leeward side and roll up the curtain through-hole, driving motor installs on the motor mounting hole, hold-in range and synchronous pulley install on straight beam and solid roll up the curtain installation roof beam, roll up the curtain cartridge on the hold-in range, still including setting up the motor on the aircraft, the output shaft of motor is installed in the second reduction gear input hole, revolving frame still is provided with first reduction gear, driving motor's output shaft is installed in the input hole of first reduction gear, still including being arranged in strengthening the revolving frame's intensity outer reinforcing curved beam and interior at least one in strengthening curved beam, straight beam, outer reinforcing curved beam and interior reinforcing curved beam are hollow structure and adopt engineering plastics, light materials such as carbon fiber.
During the use, all install reduction gear and motor in this application and fix on aircraft or unmanned aerial vehicle.
The working principle of the invention is as follows: when the motor starts to rotate in the forward direction, the rotating shaft is driven to rotate continuously after being decelerated by the speed reducer, the driving motor controls the synchronous belt wheel to work, so that the synchronous belt is driven to work, the roller shutter is unfolded and contracted along with the forward and reverse rotation of the synchronous belt wheel, when the roller shutter rotates to the highest vertical state, the driving motor works to stretch the roller shutter to the maximum area and keep the state to rotate to the lowest vertical state from the highest vertical state, at the moment, the roller shutter is vertical to the airflow direction, the airflow directly acts on the front surface of the roller shutter to enable the roller shutter to obtain the maximum air driving force, the positive pressure of the airflow acting on the windward surface of the roller shutter can be decomposed into lift force and thrust force, at the moment, the roller shutter is in the working state, when the roller shutter rotates to the highest vertical position from the lowest vertical position, the driving motor starts to work, the synchronous belt wheel is controlled to rotate in the reverse direction, the roller shutter is contracted, and the airflow directly flows out from the through hole of the roller shutter, returning to a reset state; when the motor rotates reversely, the gas reverse thrust power generated by the rotary curtain wing device is opposite to that generated when the motor rotates forwardly.
Compared with the prior art, the invention has the following remarkable advantages:
1. according to the synchronous belt transmission roller shutter continuous rotation wing device, the roller shutters in the rotation curtain wings are set to rotate continuously, so that the advantage of continuous rotation of the rotor wings is kept, and the defect that flapping wings need to move back and forth is overcome.
2. According to the synchronous belt transmission roller shutter continuous rotating wing device, the roller shutter is switched between the working state and the reset state under the control of the driving motor, the synchronous belt is driven to complete, and the device is simple in structure, high in control precision and good in reliability.
3. The synchronous belt transmission roller shutter continuous rotating wing device provided by the invention has the advantages that the motor is used for controlling the continuously rotating roller shutter to rotate relative to the central rotating shaft, so that the roller shutter moves against the wind in the largest area to obtain the largest aerodynamic force in the working state, and in the reset state, airflow directly flows out from the roller shutter through hole, so that the resistance is greatly reduced, the aim of improving the aerodynamic efficiency is fulfilled, and the aerodynamic efficiency is far higher than that of the existing rotor wing and flapping wing air vehicle.
4. The synchronous belt transmission roller shutter continuous rotating wing device directly drives the roller shutter to continuously rotate through the motor and the speed reducer, positive pressure of airflow directly acting on the surface of the roller shutter in a working state can simultaneously generate lift force and thrust force, and the purpose of controlling the rotating shutter wing to generate forward thrust force and reverse thrust force is achieved through forward and reverse rotation of the motor.
5. The continuous rotary wing device for the roller shutter driven by the synchronous belt has the advantages of simple structure, good processing manufacturability and low production cost, can be used after being simply transformed on an unmanned aerial vehicle, and is simple to install.
Drawings
Fig. 1 is a schematic view of the overall structure of the continuous rotary wing apparatus for a roller blind driven by a synchronous belt according to the present invention.
Fig. 2 is a detailed structural view of the continuous rotary wing device of the synchronous belt driven roller blind of the present invention.
Fig. 3 is a detailed structural diagram of the reset state of the continuous rotary wing device of the synchronous belt driven roller shutter of the present invention.
Fig. 4 is a detailed structural diagram of the working state of the continuous rotary wing device of the synchronous belt driven roller shutter of the present invention.
Fig. 5 is a schematic view showing the construction of a rotary frame of the continuous rotary wing apparatus for a roller blind driven by a synchronous belt according to the present invention.
Fig. 6 is a schematic view showing the structure of a roll screen of the synchronous belt driven roll screen continuous rotary wing apparatus of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings, but the invention is not limited in any way.
Example 1: with reference to fig. 1, 2, 3, 4, 5 and 6, the high-voltage wire inspection unmanned aerial vehicle adopting the synchronous belt transmission rolling curtain continuous rotary wing device. The curtain wing mechanism comprises a rotary curtain wing and a rotary shaft 9, wherein the rotary curtain wing is fixedly connected to the rotary shaft 9 and comprises a rotary frame 1 and a roller curtain 2 arranged in the rotary frame 1, and a synchronous belt 3, a synchronous belt pulley 6 and a driving motor 5 are further arranged in the rotary frame 1 and used for controlling the roller curtain 2 to expand and contract; the rotating frame 1 is provided with a central hole 101, a straight beam 102 and a solid roller shutter mounting beam 103, the direction of the straight beam 102 is parallel to the axis of the central hole 101, and the axis of the straight beam 102 is parallel to the axis of the solid roller shutter mounting beam 103; the roller shutter 2 is arranged on the straight beam 102 and the solid roller shutter mounting beam 103; the rotating shaft 9 connects the central hole 101 and a second reducer 7 arranged on the aircraft; the roller shutter 2 is provided with a roller shutter windward side 201, a roller shutter leeward side 202 and a roller shutter through hole 203, a driving motor 5 is installed on a motor installation hole 104, a synchronous belt 3 and a synchronous belt wheel 6 are installed on a straight beam 102 and a solid roller shutter installation beam 103, the roller shutter 2 is inserted on the synchronous belt 3, the roller shutter further comprises a motor 8 arranged on an aircraft, an output shaft of the motor 8 is installed in an input hole of a second speed reducer 7, the rotating frame 1 is further provided with a first speed reducer 4, an output shaft of the driving motor 5 is installed in an input hole of the first speed reducer 4, the rotating frame 1 further comprises at least one of an outer reinforcing curved beam 105 and an inner reinforcing curved beam 106 used for reinforcing the strength of the rotating frame 1, and the straight beam 102, the outer reinforcing curved beam 105 and the inner reinforcing curved beam 106 are of hollow structures and adopt engineering plastics, fibers and other materials. After the high-voltage wire inspection unmanned aerial vehicle adopts the synchronous belt transmission roller shutter continuous rotary wing device, various detection and photographing works can be completed due to small resistance of the rotary curtain wing and high pneumatic efficiency, and compared with a rotor unmanned aerial vehicle, after the same working load such as photographic equipment is carried, the one-time flight time is increased by 20 percent, so that longer time-of-flight work is realized.
Example 2: with reference to fig. 1, 2, 3, 4, 5 and 6, the unmanned aerial vehicle special for high-rise fire extinguishing adopts a synchronous belt drive roller shutter continuous rotary wing device. The curtain wing mechanism comprises a rotary curtain wing and a rotary shaft 9, wherein the rotary curtain wing is fixedly connected to the rotary shaft 9 and comprises a rotary frame 1 and a roller curtain 2 arranged in the rotary frame 1, and a synchronous belt 3, a synchronous belt pulley 6 and a driving motor 5 are further arranged in the rotary frame 1 and used for controlling the roller curtain 2 to expand and contract; the rotating frame 1 is provided with a central hole 101, a straight beam 102 and a solid roller shutter mounting beam 103, the direction of the straight beam 102 is parallel to the axis of the central hole 101, and the axis of the straight beam 102 is parallel to the axis of the solid roller shutter mounting beam 103; the roller shutter 2 is arranged on the straight beam 102 and the solid roller shutter mounting beam 103; the rotating shaft 9 connects the central hole 101 and a second reducer 7 arranged on the aircraft; the roller shutter 2 is provided with a roller shutter windward side 201, a roller shutter leeward side 202 and a roller shutter through hole 203, a driving motor 5 is installed on a motor installation hole 104, a synchronous belt 3 and a synchronous belt wheel 6 are installed on a straight beam 102 and a solid roller shutter installation beam 103, the roller shutter 2 is inserted on the synchronous belt 3, the roller shutter further comprises a motor 8 arranged on an aircraft, an output shaft of the motor 8 is installed in an input hole of a second speed reducer 7, the rotating frame 1 is further provided with a first speed reducer 4, an output shaft of the driving motor 5 is installed in an input hole of the first speed reducer 4, the rotating frame 1 further comprises at least one of an outer reinforcing curved beam 105 and an inner reinforcing curved beam 106 used for reinforcing the strength of the rotating frame 1, and the straight beam 102, the outer reinforcing curved beam 105 and the inner reinforcing curved beam 106 are of hollow structures and adopt engineering plastics, fibers and other materials. After the synchronous belt transmission roller shutter continuous rotating wing device is adopted by the unmanned aerial vehicle special for high-rise fire extinguishment, the rotating shutter wing has strong maneuverability because of large working stroke thrust, small rotor wing resistance and high pneumatic efficiency, and can quickly respond to high-rise emergency and quickly fly to a high-rise fire catching point to extinguish fire.
Claims (6)
1. The utility model provides a continuous rotary wing device of synchronous belt drive roll curtain which characterized in that: the curtain driving mechanism comprises a rotary curtain wing and a rotary shaft (9), wherein the rotary curtain wing is fixedly connected to the rotary shaft (9), the rotary curtain wing comprises a rotary frame (1) and a roller curtain (2) installed in the rotary frame (1), and a synchronous belt (3), a synchronous belt wheel (6) and a driving motor (5) are further arranged in the rotary frame (1) and used for controlling the roller curtain (2) to be unfolded and retracted;
the rotating frame (1) is provided with a central hole (101), a straight beam (102) and a solid roller shutter mounting beam (103), the direction of the straight beam (102) is parallel to the axis of the central hole (101), and the axis of the straight beam (102) is parallel to the axis of the solid roller shutter mounting beam (103); the roller shutter (2) is mounted on the straight beam (102) and the solid roller shutter mounting beam (103); the rotating shaft (9) is connected with the central hole (101) and a second speed reducer (7) arranged on an aircraft; roll up and have a roll of curtain windward side (201), roll up curtain leeward side (202) and roll up curtain through-hole (203) on curtain (2), driving motor (5) are installed on motor mounting hole (104), hold-in range (3) with synchronous pulley (6) are installed straight beam (102) with on solid roll up curtain mounting beam (103), it is in to roll up curtain (2) cartridge on hold-in range (3).
2. The continuous rotary wing apparatus for a synchronous belt driven roll screen of claim 1, wherein: the aircraft is characterized by further comprising an electric motor (8) arranged on the aircraft, and an output shaft of the electric motor (8) is installed in an input hole of the second speed reducer (7).
3. The continuous rotary wing apparatus for a synchronous belt driven roll screen of claim 1, wherein: the rotating frame (1) is further provided with a first speed reducer (4), and an output shaft of the driving motor (5) is installed in an input hole of the first speed reducer (4).
4. The continuous rotary wing apparatus for a synchronous belt driven roll screen of claim 1, wherein: the rotating frame (1) further comprises at least one of an outer reinforcing curved beam (105) and an inner reinforcing curved beam (106) for reinforcing the strength of the rotating frame (1).
5. The continuous rotary wing apparatus for a synchronous belt driven roll screen of claim 1, wherein: the straight beam (102), the outer reinforcing curved beam (105) and the inner reinforcing curved beam (106) are all hollow structures;
or the straight beam (102), the outer reinforcing curved beam (105) and the inner reinforcing curved beam (106) are made of engineering plastics;
or the straight beam (102), the outer reinforcing curved beam (105) and the inner reinforcing curved beam (106) are made of carbon fiber materials.
6. The continuous rotary wing apparatus for a synchronous belt driven roll screen of claim 1, wherein: the straight beams (102) are uniformly distributed in the circumferential direction of the central hole (101), and the number of the straight beams (102) is more than 1; the number of the synchronous belts (3) in the rotating frame (1) is 8, and the number of the synchronous belt wheels (6) is 16.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111362276.0A CN113911350A (en) | 2021-11-17 | 2021-11-17 | Synchronous belt drive rolling curtain continuous rotary wing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111362276.0A CN113911350A (en) | 2021-11-17 | 2021-11-17 | Synchronous belt drive rolling curtain continuous rotary wing device |
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| Publication Number | Publication Date |
|---|---|
| CN113911350A true CN113911350A (en) | 2022-01-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111362276.0A Pending CN113911350A (en) | 2021-11-17 | 2021-11-17 | Synchronous belt drive rolling curtain continuous rotary wing device |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR402421A (en) * | 1909-04-26 | 1909-10-07 | Eugene Sunguroff | Air thruster |
| FR12641E (en) * | 1909-04-26 | 1910-10-20 | Eugene Sunguroff | Air thruster |
| FR474215A (en) * | 1913-11-07 | 1915-02-12 | Charles Philippart | High efficiency air lift and thruster system |
| CN108275269A (en) * | 2018-01-24 | 2018-07-13 | 浙江工业职业技术学院 | A kind of imitative bird flapping flight device of line wheel amplitude modulation wound membrane formula |
| CN110422329A (en) * | 2019-07-19 | 2019-11-08 | 苏州高博软件技术职业学院 | Cam controls the wheeled dynamic swing device and wheeled dynamic wing method that blade rotates |
-
2021
- 2021-11-17 CN CN202111362276.0A patent/CN113911350A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR402421A (en) * | 1909-04-26 | 1909-10-07 | Eugene Sunguroff | Air thruster |
| FR12641E (en) * | 1909-04-26 | 1910-10-20 | Eugene Sunguroff | Air thruster |
| FR474215A (en) * | 1913-11-07 | 1915-02-12 | Charles Philippart | High efficiency air lift and thruster system |
| CN108275269A (en) * | 2018-01-24 | 2018-07-13 | 浙江工业职业技术学院 | A kind of imitative bird flapping flight device of line wheel amplitude modulation wound membrane formula |
| CN110422329A (en) * | 2019-07-19 | 2019-11-08 | 苏州高博软件技术职业学院 | Cam controls the wheeled dynamic swing device and wheeled dynamic wing method that blade rotates |
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Application publication date: 20220111 |